相关论文: Visual Model-predictive Localization for Computati…
Reliable detection, localization and identification of small drones is essential to promote safe, secure and privacy-respecting operation of Unmanned-Aerial Systems (UAS), or simply, drones. This is an increasingly challenging problem with…
The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extended Kalman filter (EKF) based state estimation algorithm that…
This paper describes an approach to building a cost-effective and research grade visual-inertial odometry aided vertical taking-off and landing (VTOL) platform. We utilize an off-the-shelf visual-inertial sensor, an onboard computer, and a…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
State-of-the-art visual place recognition performance is currently being achieved utilizing deep learning based approaches. Despite the recent efforts in designing lightweight convolutional neural network based models, these can still be…
Aerial surveillance and monitoring demand both real-time and robust motion detection from a moving camera. Most existing techniques for drones involve sending a video data streams back to a ground station with a high-end desktop computer or…
Precision landing is a remaining challenge in autonomous drone flight. Fiducial markers provide a computationally cheap way for a drone to locate a landing pad and autonomously execute precision landings. However, most work in this field…
Drones, or general UAVs, equipped with a single camera have been widely deployed to a broad range of applications, such as aerial photography, fast goods delivery and most importantly, surveillance. Despite the great progress achieved in…
Drone Visual Active Tracking aims to autonomously follow a target object by controlling the motion system based on visual observations, providing a more practical solution for effective tracking in dynamic environments. However, accurate…
Autonomous racing provides a controlled environment for testing the software and hardware of autonomous vehicles operating at their performance limits. Competitive interactions between multiple autonomous racecars however introduce…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
The availability of real-world data is a key element for novel developments in the fields of automotive and traffic research. Aerial imagery has the major advantage of recording multiple objects simultaneously and overcomes limitations such…
The vehicle routing problem with drones (VRP-D) is to determine the optimal routes of trucks and drones such that the total operational cost is minimized in a scenario where the trucks work in tandem with the drones to deliver parcels to…
Due to noisy actuation and external disturbances, tuning controllers for high-speed flight is very challenging. In this paper, we ask the following questions: How sensitive are controllers to tuning when tracking high-speed maneuvers? What…
Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…
Accurate relative positioning is crucial for swarm aerial robotics, enabling coordinated flight and collision avoidance. Although vision-based tracking has been extensively studied, 3D LiDAR-based methods remain underutilized despite their…
The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…
Nano-size unmanned aerial vehicles (UAVs) hold enormous potential to perform autonomous operations in complex environments, such as inspection, monitoring or data collection. Moreover, their small size allows safe operation close to humans…
The Perspective-n-Point problem aims to estimate the relative pose between a calibrated monocular camera and a known 3D model, by aligning pairs of 2D captured image points to their corresponding 3D points in the model. We suggest an…
Self-driving cars and other autonomous vehicles need to detect and track objects in camera images. We present a simple online tracking algorithm that is based on a constant velocity motion model with a Kalman filter, and an assignment…